# pathfollow
cln_msgs/Machine_state flw_result_state
bool flw_predict_trigger
float32 flw_predict_distance
geometry_msgs/Pose2D  flw_predictpath_collision_pt   
bool flw_points_trigger
bool flw_warning_trigger   
float32 flw_stoping_distance
float32 flw_speedLimit
float32 flw_deviation_distance
string flw_info

# replany
cln_msgs/Machine_state  rpl_result
cln_msgs/Machine_state  rpl_replan_res
uint8 rpl_multi_replan_step
uint8 rpl_replan_Cnt
uint8 rpl_replan_exeption_cnt
bool rpl_noreplanpath
bool rpl_issurrounded
uint8 rpl_replan_delay_cnt
string rpl_info
string rpl_break_info
cln_msgs/Machine_state rpl_breakout_res
cln_msgs/Machine_state rpl_breakout_step
cln_msgs/Machine_state rpl_breakoutmethod
float32 rpl_angle
float32 rpl_breakoutTimeCoffi
bool rpl_points_trigger
bool rpl_costmap_trigger
uint32 rpl_pointsclassify_fornt
uint32 rpl_pointsclassify_left_fornt
uint32 rpl_pointsclassify_left_back
uint32 rpl_pointsclassify_right_fornt
uint32 rpl_pointsclassify_right_back
uint32 rpl_pointsclassify_back
float32 rpl_minstopingPointDis
float32 rpl_stopingPointDistance
uint32 rpl_min_stopingPt_type
geometry_msgs/Pose2D  rpl_min_stopingPt



